CN104246085B - The construction management device of excavation machinery, the construction management device of hydraulic crawler excavator, excavation machinery and construction management system - Google Patents

The construction management device of excavation machinery, the construction management device of hydraulic crawler excavator, excavation machinery and construction management system Download PDF

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Publication number
CN104246085B
CN104246085B CN201380002204.2A CN201380002204A CN104246085B CN 104246085 B CN104246085 B CN 104246085B CN 201380002204 A CN201380002204 A CN 201380002204A CN 104246085 B CN104246085 B CN 104246085B
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China
Prior art keywords
construction
positional information
equipment
information
driving body
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CN201380002204.2A
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CN104246085A (en
Inventor
野村安昙
深野亮
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Komatsu Manufacturing Corp
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Komatsu Manufacturing Corp
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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/2054—Fleet management
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/261—Surveying the work-site to be treated
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/264—Sensors and their calibration for indicating the position of the work tool
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/14—Receivers specially adapted for specific applications

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Operation Control Of Excavators (AREA)
  • Component Parts Of Construction Machinery (AREA)

Abstract

The present invention relates to the construction management device of the construction management device of excavation machinery, hydraulic crawler excavator, excavation machinery and construction management system.The construction management device of excavation machinery generates the construction information of excavation machinery, and excavation machinery has equipment, the revolving body installing described equipment and carries the driving body that described revolving body is travelled, and construction management device includes：Equipment positional information generating unit, it asks for the information related to the position of equipment is equipment positional information；Driving body positional information generating unit, it is asked for the information related to the position of driving body and travels body position information；With construction location information generation unit, the any one party that it is used in equipment positional information or driving body positional information is generating the construction location information of the information of the position constructed as excavation machinery, and when excavation machinery travels, do not generate construction location information using driving body positional information using equipment positional information.

Description

The construction management device of excavation machinery, the construction management device of hydraulic crawler excavator, excavation Machinery and construction management system
Technical field
The present invention relates to the construction management device of excavation machinery, excavation machinery and construction management system.
Background technology
In recent years it has been proposed that on the Work machine of hydraulic crawler excavator or bull-dozer etc., carrying GPS (Global Positioning System, global positioning system) etc. position to detect itself, to its positional information with represent job site The construction information of landform be compared, and ask for the attitude of equipment by calculation process, thus controlling equipment Action, or the attitude of equipment or position and construction information contrasted be shown to supervision thus instructing Construction Condition On device device (for example, patent documentation 1,2).The construction employing such Work machine is referred to as information-aided construction.According to letter Breathization is constructed, even if high-precision construction also can be carried out to the unskilled operator of operation of Work machine.If skilled Operator, then can carry out efficient construction by information-aided construction.According to information-aided construction, conventional institute can be cut down in a large number The measurement operation needing and finishing stake (fourth り) operation.
Citation
Patent documentation
Patent documentation 1：TOHKEMY 2007-147588 publication
Patent documentation 2：TOHKEMY 2012-172428 publication
Content of the invention
Invention problem to be solved
Due to construction, the construct shape of object of the landform at scene changes.In order to hold this change, after measurement construction Construction object shape, but measurement job demand cost labour and time.Furthermore it is preferred that after constructing with construction results Construction object the related information of shape correct.Patent documentation 1 describes, detection control bar pilot pressure come to judge go Sail/non-traveling, and switchable lowpass filter processes and to ask for bucket front-end position thus carrying out position adjustment.Patent documentation 2 is remembered It is loaded with present situation line test section, the movement of its bottom based on vehicle body detects present situation face with the track of the movement of bucket front-end Line.
The excavation machinery as hydraulic crawler excavator with equipment typically carries out dredge operation in the state of stopping, Equipment is made to stop in traveling.Technology described in patent documentation 1 does not refer to be asked in the traveling of excavation machinery constructing The current shape of object.Therefore, the technology described in patent documentation 1 is possible in usage mining machinery, construction object be carried out It is impossible to enough accurately ask for construction results in the case of construction.How technology described in patent documentation 2 is not clear and definite makes Detect present situation upper thread with the movement of the bottom of vehicle body with the track of the movement of the front end of scraper bowl.Therefore, patent documentation 2 institute Present situation upper thread is detected in the track that the technology recorded is possible to the front end using scraper bowl in the traveling of excavation machinery, or is excavating When present situation upper thread is detected according to the movement of the bottom of vehicle body, it is possible to can not accurately ask for construction knot Really.
It is an object of the invention in the information-aided construction employing the excavation machinery with equipment, accurately Ask for construction results.
Means for solving the problems
The present invention provides a kind of construction management device of excavation machinery, generates related to the result of described excavation machinery construction Information, described excavation machinery have equipment, install described equipment revolving body and carry described revolving body carries out The driving body travelling, described construction management device includes：Vehicle state detecting section, the present bit of its detection and described excavation machinery Put and information that attitude is related；Equipment positional information generating unit, its detection knot based on described vehicle state detecting section Really, asking for the information related to the position of described equipment is equipment positional information；Driving body positional information generating unit, Its testing result based on described vehicle state detecting section, asks for the information related to the position of described driving body and travels position Confidence ceases；Construction location information generation unit, it uses in described equipment positional information or described driving body positional information Any one party is generating the construction location information of the information of the position constructed as described excavation machinery, and digs described When pick machinery travels, do not generate described construction using described equipment positional information using described driving body positional information Positional information.
Preferably described construction location information generation unit when described driving body is in halted state, using described equipment Positional information is generating described construction location information.
The operation inspection that preferably there is the operating portion of action controlling described driving body and detect the operation of described operating portion Survey portion, described construction location information generation unit detects the operation for making described driving body travel in described operation detection part When, generate described construction location information using described driving body positional information, detect for making in described operation detection part During the operation that described driving body stops, generating described construction location information using described equipment positional information.
Preferably described operating portion is control bar or the pedal of pilot pressure mode.
Preferably described construction location information generation unit in the case of using described equipment positional information, in described work The equipment positional information making the current point in time that device location information generating unit is generated and the described construction having existed Change hour is compared in position in the short transverse of positional information, and described construction location information updating is described current point in time Equipment positional information.
Preferably described construction location information generation unit in the case of using described driving body positional information, by described construction The driving body positional information of the current point in time that updating location information is generated by described driving body positional information generating unit.
Preferably described equipment positional information is related to the position of the spear of the scraper bowl being installed on described equipment Information.
Preferably described driving body positional information generating unit is generated described based on the moving direction that described excavation machinery travels Driving body positional information.
Described construction location presentation of information is possessed by preferably described construction location information generation unit in described excavation machinery Display device.
The present invention provides a kind of construction management device of hydraulic crawler excavator, generates the result with described hydraulic crawler excavator construction Related information, described hydraulic crawler excavator has equipment, the revolving body installing described equipment and carries described revolution The driving body that body is travelled, described construction management device includes：Vehicle state detecting section, its detection and described hydraulic crawler excavator Current location and the related information of attitude；Equipment positional information generating unit, it is based on described vehicle state detecting section Testing result, asking for the information related to the position of described equipment is equipment positional information；Travel body position letter Breath generating unit, its testing result based on described vehicle state detecting section, ask for the information related to the position of described driving body Travel body position information；The traveling bar of pilot pressure mode, it controls the action of described driving body；And operation detection part, its Detection to the described input travelling bar, described construction location information generation unit described operation detection part detect be intended to make described During the input that driving body travels, generate described construction location information using described driving body positional information, in described operation inspection When survey portion detects the input being intended to make described driving body stopping, generating described construction using described equipment positional information Positional information.
The present invention provides a kind of excavation machinery, possesses described in equipment, the revolving body installing described equipment, carrying Driving body and the construction management device of aforesaid excavation machinery that revolving body is travelled.
The present invention provides a kind of construction management system, comprises：Construction plan generating unit, it generates aforesaid excavation machinery Construction plan；Construction plan sending part, described construction plan is sent to the construction management device of described excavation machinery by it；With apply Work positional information obtaining section, it obtains the described construction location information that the construction management device of described excavation machinery is generated.
The present invention can accurately ask for applying in the information-aided construction employing the excavation machinery with equipment Work result.
Brief description
Fig. 1 is the axonometric chart of the hydraulic crawler excavator 100 involved by present embodiment.
Fig. 2 is the side view of hydraulic crawler excavator 100.
Fig. 3 is the rearview of hydraulic crawler excavator 100.
Fig. 4 is the block diagram of the control system representing that hydraulic crawler excavator 100 possesses.
Fig. 5 is the block diagram of the processing unit 91 representing that the construction management device 90 of excavation machinery possesses.
Fig. 6 is the figure representing the design landform shown in design terrain data.
Fig. 7 is a figure illustrating for the method to the spear position P3 asking for scraper bowl 8.
Fig. 8 is a figure illustrating for the method to the spear position P3 asking for scraper bowl 8.
Fig. 9 is to represent that what the track TLi of the spear 8T to scraper bowl 8 on the picture 42P of display part 42 shown shows The figure of example.
Figure 10 is the figure for illustrating to construction location information.
Figure 11 is the figure for illustrating to driving body positional information.
Figure 12 is the figure for illustrating to driving body positional information.
Figure 13 is the figure for illustrating to driving body positional information.
Figure 14 is the figure for illustrating to driving body positional information.
Figure 15 is the figure for illustrating to equipment positional information.
Figure 16 is the figure for illustrating to the renewal of construction location information.
Figure 17 is the figure for illustrating to the renewal of construction location information.
Figure 18 is the flow chart of that represents the action of construction management device involved by present embodiment.
Figure 19 is to represent the figure of that shows construction location information on the picture 42P of display part 42.
Figure 20 is the figure representing the construction management system 200 involved by present embodiment.
Specific embodiment
Referring to the drawings the mode (embodiment) for implementing the present invention is described in detail.Not by following reality Apply the content described in mode to limit the invention.Additionally, in the following embodiments, as one of excavation machinery Hydraulic crawler excavator is illustrated, but the excavation machinery as object is not limited to hydraulic excavating in the following embodiments Machine, as long as have excavation or backfill function.
<Being monolithically fabricated of excavation machinery>
Fig. 1 is the axonometric chart of the hydraulic crawler excavator 100 involved by present embodiment.Fig. 2 is the side-looking of hydraulic crawler excavator 100 Figure.Fig. 3 is the rearview of hydraulic crawler excavator 100.Fig. 4 is the block diagram of the control system representing that hydraulic crawler excavator 100 possesses.Figure 5 is the block diagram of processing unit 91 that possesses of construction management device 90 of excavation machinery.Fig. 6 is to represent shown by design terrain data Design landform figure.In the present embodiment, the hydraulic crawler excavator 100 as excavation machinery has the vehicle as main part Main body 1 and equipment 2.Vehicle body 1 has the upper rotation 3 as revolving body and the mobile devices 5 as driving body. Upper rotation 3, in the inside of Machine Room 3EG, is accommodated with the device of power generation arrangement (not shown) and hydraulic pump etc..Machine Tool room 3EG is configured at a side of upper rotation 3.
In the present embodiment, the internal combustion engine of Diesel engine etc. is for example produced dress as power by hydraulic crawler excavator 100 Put, but hydraulic crawler excavator 100 is not limited to such configuration.Hydraulic crawler excavator 100, for example can also possess by internal combustion engine, Power generation arrangement that generator motor and electrical storage device are combined, so-called hybrid power mode etc..
Upper rotation 3 has driver's cabin 4.Driver's cabin 4 is placed in the another side of upper rotation 3.That is, driver's cabin 4 opposition sides being configured at the side being configured with Machine Room 3EG.In driver's cabin 4, as shown in figure 4, configuration display input device 38 And operation device 25.These are described below.Mobile devices 5 carry upper rotation 3.Mobile devices 5 have crawler belt 5a, 5b.Mobile devices 5 are driven thus crawler belt 5a, 5b are carried out by one or both of the fluid pressure motor 5c about being arranged at Rotation, and so that hydraulic crawler excavator 100 is travelled.Equipment 2 is installed on the side side of the driver's cabin 4 of upper rotation 3.
Hydraulic crawler excavator 100 can also possess tire to replace crawler belt 5a, 5b, and possesses Diesel engine (not shown) Driving force transmitted the mobile devices so as to be travelled to tire via variator.For example, as this form Hydraulic crawler excavator 100 can also be wheeled hydraulic excavator.Additionally, hydraulic crawler excavator 100 can also have being constructed as below Such as loader-digger：Possess this mobile devices with tire, and equipment be installed on vehicle body (main part), And do not possess upper rotation 3 and its slew gear as Fig. 1.That is, loader-digger possesses of composition vehicle body The mobile devices dividing, and equipment is installed on vehicle body.
For upper rotation 3, it is front for being configured with equipment 2 and the side of driver's cabin 4, is configured with Machine Room 3EG Side be after.It is a left side for upper rotation 3 on the left of face forward, be the right side of upper rotation 3 on the right side of face forward.Additionally, For hydraulic crawler excavator 100 or vehicle body 1, under on the basis of upper rotation 3, mobile devices 5 side is, with mobile devices 5 it is Benchmark upper rotation 3 side is upper.In the case that hydraulic crawler excavator 100 is arranged at horizontal plane, lower is gravity for vertical direction Action direction side, above for the opposition side of vertical direction.
Equipment 2 has large arm 6, forearm 7, scraper bowl 8, large arm working cylinder 10, forearm working cylinder 11 and scraper bowl working cylinder 12.The base end part of large arm 6 can unsteadily be installed on the front portion of vehicle body 1 via large arm pin 13.The base end part of forearm 7 is via little Arm pin 14 can unsteadily be installed on the leading section of large arm 6.In the leading section of forearm 7, via scraper bowl pin 15, scraper bowl 8 is installed.Shovel Bucket 8 is waved centered on scraper bowl pin 15.
As shown in Fig. 2 the length of large arm 6, that is, from large arm pin 13 to the length of forearm pin 14 be L1.The length of forearm 7, that is, From the center of forearm pin 14, the length to the center of scraper bowl pin 15 is L2.The length of scraper bowl 8, that is, from the center of scraper bowl pin 15 to shovel The length of the spear 8T of bucket 8 is L3.As shown in figure 1, spear 8T is mounted to the shovel 8B's of the opposition side of scraper bowl pin 15 of scraper bowl 8 Front end.Scraper bowl 8 has multiple shovel 8B.Multiple shovel 8B are arranged in string.The row of multiple spear 8T are properly termed as spear row.
Scraper bowl 8 can not also have multiple shovel 8B.I.e. or such scraper bowl, it does not have shovel as shown in Figure 1 8B and spear is formed rectilinear form by steel plate.Equipment 2 for example can also possess the inclination scraper bowl having a shovel.Institute Meaning tilts scraper bowl, refers to possess bucket tilt working cylinder, and passes through scraper bowl right bank to the left, even if hydraulic crawler excavator is located at hillside fields Also can by inclined-plane, level land shape, smooth for arbitrary shape additionally it is possible to carry out the scraper bowl of the tamping operation of base plate scraper plate.Remove Beyond this, equipment 2, scraper bowl 8 can also be replaced to possess hillside fields scraper bowl or have the attached of the rock drilling of the chip of rock drilling Part etc..
Large arm working cylinder 10 shown in Fig. 1, forearm working cylinder 11 and scraper bowl working cylinder 12 are all the pressure by hydraulic oil The hydraulic working cylinder that (below, being properly termed as hydraulic pressure) is driven.Large arm working cylinder 10 drives large arm 6, so that it is carried out Lifting.Forearm working cylinder 11 drives forearm 7, so that it is rotated around forearm pin 14.Scraper bowl working cylinder 12 drives scraper bowl 8, so that it is rotated around scraper bowl pin 15.In large arm working cylinder 10, forearm working cylinder 11 and scraper bowl working cylinder 12 etc. Hydraulic working cylinder and hydraulic pump (not shown) between, be configured with control valve 37D of the traveling shown in Fig. 4 and operation and control Valve 37W.By electronic control device for vehicle 26 described later, traveling is carried out with control valve 37D and operation control valve 37W Control, to control and to be supplied to large arm working cylinder 10, the hydraulic oil of forearm working cylinder 11, scraper bowl working cylinder 12 or fluid pressure motor 5c Flow.As a result, controlling the action of large arm working cylinder 10, forearm working cylinder 11 and scraper bowl working cylinder 12.
As shown in Fig. 2 in large arm 6, forearm 7 and scraper bowl 8, being respectively arranged with the 1st stroke sensor 16, the 2nd stroke sensing Device 17 and the 3rd stroke sensor 18.1st stroke sensor 16, the 2nd stroke sensor 17 and the 3rd stroke sensor 18 are inspections Survey the attitude detecting portion 9 of the attitude of equipment 2.1st stroke sensor 16 detects the haul distance of large arm working cylinder 10.Aftermentioned Large arm working cylinder 10 according to detected by the 1st stroke sensor 16 for the display control unit 39 (with reference to Fig. 4) haul distance, Calculate the tiltangleθ 1 of the Za axle that large arm 6 is with respect to vehicle body coordinate system described later.2nd stroke sensor 17 detects forearm work Make the haul distance of cylinder 11.The row of forearm working cylinder 11 according to detected by the 2nd stroke sensor 17 for the display control unit 39 Cheng Changdu, calculates the tiltangleθ 2 that forearm 7 is with respect to large arm 6.3rd stroke sensor 18 detects that the stroke of scraper bowl working cylinder 12 is long Degree.The haul distance of scraper bowl working cylinder 12 according to detected by the 3rd stroke sensor 18 for the display control unit 39, calculates scraper bowl 8 with respect to forearm 7 tiltangleθ 3.
Vehicle body 1 possesses position detection part 19 as shown in Figure 2.Position detection part 19 detects working as of hydraulic crawler excavator 100 Front position.Position detection part 19 has Real-time and Dynamic-GLONASS RTK-GNSS (Real Time Kinematic- Global Navigation Satellite Systems, GNSS are called GLONASS) 2 antennas 21,22 (below, being properly termed as GNSS antenna 21,22), three-dimensional position sensing device 23 and slant angle sensor 24.GNSS antenna 21,22 It is arranged at vehicle body 1, be more particularly arranged at upper rotation 3.In the present embodiment, along as three-dimensional system of coordinate The Ya axle of vehicle body coordinate system { Xa, Ya, Za } GNSS antenna 21,22 is set spaced at a distance.According to vehicle body 1 Design size the initial point of vehicle body coordinate system { Xa, Ya, Za } is appointed as arbitrary point.Vehicle body coordinate system Xa, Ya, Za } the coordinate information of initial point be prestored in equipment side storage part 35.
Preferably GNSS antenna 21,22 is arranged above upper rotation 3, on the left and right directions of hydraulic crawler excavator 100 The end positions separating.In addition it is also possible to be arranged above upper rotation 3, counterweight (not shown) (upper rotation 3 Rear end) or driver's cabin 4 rear.In a word, as far as possible GNSS antenna 21,22 is arranged at the position separating, hydraulic pressure can be improved and dig The accuracy of detection of the current location of pick machine 100.Furthermore it is preferred that GNSS antenna 21,22 is arranged at without prejudice to operator's as far as possible The position in the visual field.Attitude detecting portion 9 as vehicle state detecting section and position detection part 19 can detect as with as digging The vehicle-state of the information of attitude correlation of the position (current location) of hydraulic crawler excavator 100 of pick machinery and equipment 2.
By with the corresponding signal input of GNSS electric wave received by GNSS antenna 21,22 to three-dimensional position sensing device 23. Three-dimensional position sensing device 23 detects the position of set location P1, P2 of GNSS antenna 21,22.As shown in figure 3, slant angle sensor The tiltangleθ 4 that the width of 24 detection vehicle bodies 1 is vertical direction Ng with respect to the action direction of gravity is (below, suitably Ground is referred to as angle of heel θ 4).In addition, in the present embodiment, so-called width means the width of scraper bowl 8, with top The width of revolving body 3 is that left and right directions is consistent.But, it is possible to shovel in the case that equipment possesses inclination scraper bowl The width of bucket is inconsistent with the width of upper rotation 3.
Upper rotation 3 is turned round centered on regulation axle Zr.Regulation axle Zr is properly termed as rotary middle spindle Zr. Rotary middle spindle Zr is the axle parallel with the Za axle of vehicle body coordinate system.Upper rotation 3 except GNSS antenna 21,22 with Outward, it is also equipped with antenna 40A.Antenna 40A is used for carrying out radio communication to information and the outside of hydraulic crawler excavator 100 between.
Using Fig. 4, the control system of hydraulic crawler excavator 100 is illustrated.Hydraulic crawler excavator 100 possess operation device 25, Electronic control device for vehicle 26, controller of vehicle 27, the display system of excavation machinery (below, are properly termed as display system System) 28, the construction management device (below, being properly termed as construction management device) 90 of communication unit 40 and excavation machinery.Operation dress Put 25 and there is equipment control member 31L, 31R and mobility operation component 33L, 33R and equipment as operating portion Operation detection part 32L, 32R and mobility operation test section 34L, 34R.In the present embodiment, equipment control member 31L, 31R and mobility operation component 33L, 33R are the control bars of pilot pressure mode, but are not limited to this.Equipment Control member 31L, 31R and mobility operation component 33L, 33R can also be for example control bars electrically.In this situation Under, equipment operation detection part 32L, 32R and mobility operation test section 34L, 34R are as detection to the work as operating portion Make the operation detection part of input of device control member 31L, 31R and mobility operation component 33L, 33R and play a role.
Equipment control member 31L, 31R are the components for operator's operation element device 2, e.g. possess control The control bar of handle portion and bar as bar processed.Equipment control member 31L, 31R of this construction can hold handle Hand swaying style forwards, backwards.As shown in figure 4, equipment control member 31L, 31R and equipment operation detection part 32L, 32R respectively have 2 groups.The left and right of the operator's seat (not shown) in driver's cabin 4 is respectively arranged with equipment behaviour Make component 31L, 31R.For example pass through operation setting in the equipment control member 31L on the left side, forearm 7 and top can be made Revolving body 3 carries out action, by operation setting in the equipment control member 31R on the right, can make scraper bowl 8 and large arm 6 Carry out action.
Equipment operation detection part 32L, 32R according to operating to the input of equipment control member 31L, 31R in Hold and produce pilot pressure, and the pilot pressure of produced hydraulic oil is supplied to the operation that controller of vehicle 27 possesses Use control valve 37W.According to the size of this pilot pressure, operation control valve 37W execution action, thus to the large arm shown in Fig. 1 Working cylinder 10, forearm working cylinder 11 and scraper bowl working cylinder 12 etc., supply hydraulic oil from hydraulic pump (not shown).In equipment In the case that control member 31L, 31R are control bar electrically, equipment operation detection part 32L, 32R is for example using electricity Position meter etc. is detecting that to the input of equipment control member 31L, 31R be operation content, and Input transformation is the signal of telecommunication (inspection Survey signal) send to electronic control device for vehicle 26.Electronic control device for vehicle 26 is based on this detection signal and operation is used Control valve 37W is controlled.
Mobility operation component 33L, 33R are the components of the traveling operating hydraulic crawler excavator 100 for operator.Travel behaviour Make the control bar (below, being properly termed as travelling bar) that component 33L, 33R e.g. possess handle portion and bar.For this row Sail control member 33L, 33R, operator can hold handle portion makes it topple over forwards, backwards.For mobility operation component 33L, 33R, if 2 control bars are dumped forward simultaneously, hydraulic crawler excavator 100 advances, if toppling over backward, after hydraulic crawler excavator 100 Move back.Additionally, mobility operation component 33L, 33R are can to carry out trampling to operate (not shown) to step on by operator with foot Plate, be seesaw type pedal.Can be same with aforesaid control bar by any one of the front side of pushes pedals or rear side Sample ground produces pilot pressure and controls traveling control valve 37D, thus fluid pressure motor 5c is driven and makes hydraulic crawler excavator 100 advance or retreat.If 2 pedals are trampled with front side simultaneously, hydraulic crawler excavator 100 advances, if trample rear side, hydraulic pressure simultaneously Excavator 100 retreats.Or, if trampling front side or the rear side of side's pedal, can an only side of crawler belt 5a, 5b rotate, from And so that hydraulic crawler excavator 100 is turned round.So, in the case that operator want to make hydraulic crawler excavator 100 travel, as long as execution Any one in making control bar topple over forwards, backwards with handss or with foot, the front side of pedal or rear side being trampled is it becomes possible to make row The travel motor 5c sailing device 5 is driven.As shown in figure 4, mobility operation component 33L, 33R and mobility operation test section 34L, 34R have 2 groups.It is arranged at the operator (not shown) in driver's cabin 4 mobility operation component 33L, 33R left-right situs The front of seat.By operation setting in the mobility operation component 33L in left side, the fluid pressure motor 5c in left side can be made to be driven Dynamic so that the crawler belt 5b execution action in left side.By operation setting in the mobility operation component 33R on right side, right side can be made Fluid pressure motor 5c is driven the crawler belt 5a execution action so that right side.
Mobility operation test section 34L, 34R produce according to being operation content to the input of mobility operation component 33L, 33R Pilot pressure, and produced pilot pressure is supplied to traveling control valve 37D that controller of vehicle 27 possesses.According to The size of this pilot pressure, travels and uses the execution action of control valve 37D, thus to the fluid pressure motor 5c supply hydraulic pressure travelling Oil.In the case that traveling control member 33L, 33R are control bar electrically, mobility operation test section 34L, 34R are for example Detect that the input to mobility operation component 33L, 33R is operation content using potentiometer etc., and Input transformation is the signal of telecommunication (inspection Survey signal) send to electronic control device for vehicle 26.Electronic control device for vehicle 26 is based on this detection signal and uses to travelling Control valve 37D is controlled.
Electronic control device for vehicle 26 has and comprises RAM (Random Access Memory, random accesP memorizer) And the equipment side storage part 35 of at least one party in ROM (Read Only Memory, read only memory) and CPU The operational part 36 of (Central Processing Unit, central processing unit) etc..Electronic control device for vehicle 26 digs to hydraulic pressure The engine that pick machine 100 possesses and hydraulic pump are controlled.In equipment side storage part 35, it is stored with and draws for controlling Hold up and hydraulic pump computer program etc..Additionally, in equipment side storage part 35, as it was previously stated, the vehicle master that is stored with The coordinate information of the initial point of body coordinate system COM.And, in equipment side storage part 35, be also stored with vehicle body coordinate It is the coordinate information of the centre of gyration position P4 (with reference to Fig. 7, Fig. 8) of COM.With regard to centre of gyration position P4 detailed content rear Face describes.It is the feelings of control bar electrically in equipment control member 31L, 31R and mobility operation component 33L, 33R Under condition, electronic control device for vehicle 26 also controls the action of equipment 2, upper rotation 3 and mobile devices 5.At this In the case of, electronic control device for vehicle 26 is according to equipment control member 31L, 31R or mobility operation component 33L, 33R Operate and generate the control signal for making equipment 2 or mobile devices 5 execution action, and export controller of vehicle 27.
Controller of vehicle 27 is the hydraulic test possessing hydraulic control valve etc., has traveling control valve 37D and work Industry control valve 37W.These are by from equipment operation detection part 32L, 32R and mobility operation test section 34L, 34R Pilot pressure controlling.It is electrically in equipment control member 31L, 31R and mobility operation component 33L, 33R In the case of control bar, based on the control signal from electronic control device for vehicle 26 to traveling control valve 37D and work Industry control valve 37W is controlled.
In the case that traveling control member 33L, 33R are the traveling bar of pilot pressure mode, if hydraulic crawler excavator 100 Operator give input to operate to these, then with the pilot pressure phase from mobility operation test section 34L, 34R The hydraulic oil of the flow answered flows out from traveling control valve 37D, and is supplied to the fluid pressure motor 5c travelling.If operation travels One or both of control member 33L, 33R, then one or both of the fluid pressure motor 5c of the left and right shown in Fig. 1 driven Dynamic.As a result, at least one party of crawler belt 5a, 5b is rotated, thus hydraulic crawler excavator 100 is travelled.
Controller of vehicle 27 possesses detection and is supplied to the size of pilot pressure of traveling control valve 37D and generates relatively Hydrostatic sensor 37Slf, 37Slb, 37Srf, the 37Srb of the signal of telecommunication answered.Hydrostatic sensor 37Slf detection left front enter guide Pressure, hydrostatic sensor 37Slb detects the left back pilot pressure moving back, and hydrostatic sensor 37Srf detects the pilot pressure of right advance, Hydrostatic sensor 37Srb detects the pilot pressure of right retrogressing.Electronic control device for vehicle 26 acquirement hydrostatic sensor 37Slf, The signal of telecommunication of the size of pilot pressure of expression hydraulic oil that 37Slb, 37Srf, 37Srb detect and generate.This signal of telecommunication is used for Action of the control of engine or hydraulic pump or construction management device described later etc..As it was previously stated, in the present embodiment, work clothes Put control member 31L, 31R and mobility operation component 33L, 33R be pilot pressure mode control bar.In this case, liquid Pressure sensor 37Slf, 37Slb, 37Srf, 37Srb and hydrostatic sensor 37SBM, 37SBK, 37SAM, 37SRM described later make For the behaviour to the input as equipment control member 31L, 31R of operating portion and mobility operation component 33L, 33R for the detection Make test section and play a role.
In the case that equipment control member 31L, 31R are the control bar of pilot pressure mode, if hydraulic crawler excavator 100 operator operate these control bars, then the guide producing with the operation according to equipment control member 31L, 31R The hydraulic oil of the corresponding flow of pressure flows out from operation control valve 37W.The hydraulic oil flowing out from operation control valve 37W carries At least one in supply large arm working cylinder 10, forearm working cylinder 11, scraper bowl working cylinder 12 and slewing motor.Then, Fig. 1 At least one in shown large arm working cylinder 10, forearm working cylinder 11, scraper bowl working cylinder 12 and slewing motor is according to from work The hydraulic oil that industry is supplied with control valve 37W, each working cylinder executes expanding-contracting action, and slewing motor is by revolution driving.As a result, work Make device 2 and at least one party of upper rotation 3 carries out action.
Controller of vehicle 27 possesses detection and is supplied to the size of pilot pressure of operation control valve 37W and generates electrically Hydrostatic sensor 37SBM, 37SBK, 37SAM, 37SRM of signal.Hydrostatic sensor 37SBM detection is relative with large arm working cylinder 10 The pilot pressure answered, the hydrostatic sensor 37SBK detection pilot pressure corresponding with forearm working cylinder 11, hydrostatic sensor The 37SAM detection pilot pressure corresponding with scraper bowl working cylinder 12, hydrostatic sensor 37SRM detection is corresponding with slewing motor Pilot pressure.Electronic control device for vehicle 26 obtains hydrostatic sensor 37SBM, 37SBK, 37SAM, 37SRM and detects and give birth to The signal of telecommunication of the size of expression pilot pressure becoming.This electric signal is used for the control of engine or hydraulic pump or construction pipe described later Action of reason device etc..
<Construction management device 90>
Construction management device 90 has the processing unit of CPU (Central Processing Unit, central processing unit) etc. 91 and comprise RAM (Random Access Memory, random accesP memorizer) and ROM (Read Only Memory, only Read memorizer) at least one party storage part 92.Construction management device 90 more particularly processing unit 91 generates hydraulic excavating The construction location information of machine 100.Construction location information is to comprise the result that hydraulic crawler excavator 100 is constructed to construction object Information.So-called construction, to liking the scene that hydraulic crawler excavator 100 is constructed, is to excavate the place of sand, in ground ditching And the place in the place being formed or execution hillside fields shaping etc. etc..Construction location information is, for example, the table with the construction object after construction The related information in face position.The information related to this position for example to be represented by the position (coordinate) in global coordinate system.Apply Work positional information is also the information of the shape of construction object such as landform after representing change.
As shown in figure 5, processing unit 91 has equipment positional information generating unit 91A, driving body positional information generating unit 91B and construction location information generation unit 91C.These as described later, all have single function.These functions for example can be passed through Processing unit 91 reads in, from storage part 92, the computer program realizing each function, and processes note in the computer program being read in The job sequence stated is realizing.Storage part 92 is stored with the construction location letter that aforesaid computer program, processing unit 91 are generated Breath and pre-made design terrain data etc..Design terrain data is shape and the position phase with three-dimensional design landform The information closed.Design landform shows the target shape of the landform on the ground as construction object.In other words, design landform is shown Go out target face (below, being properly termed as design face) i.e. target shape.
In construction management device 90, it is connected with three-dimensional position sensing device 23, the 1st stroke sensing as attitude detecting portion 9 Device 16, the 2nd stroke sensor 17 and the 3rd stroke sensor 18 and slant angle sensor 24.And, construction management device 90 Can receive hydrostatic sensor 37Slf, 37Slb, 37Srf, 37Srb and hydrostatic sensor 37SBM, 37SBK, 37SAM, The electric signal that each hydrostatic sensor such as 37SRM is generated.Construction management device 90 obtains the detection from these each sensors Value.In construction management device 90, it is connected with the communication unit 40 possessing aforesaid antenna 40A.Construction management device 90 is via communication Portion 40 and the outside of hydraulic crawler excavator 100, for example, pass through and the construction management system of construction of management hydraulic crawler excavator 100 between Radio communication is exchanging information.Radio communication can utilize ground communication or satellite communication.Radio communication can be in hydraulic excavating Between machine 100 and construction management system, the information of design terrain data and construction location information etc. is in communication with each other.
The testing result based on aforesaid vehicle state detecting section for equipment positional information generating unit 91A, to ask for The related information in the position of equipment 2 is equipment positional information.Driving body positional information generating unit 91B is based on aforesaid The testing result of vehicle state detecting section, to ask for the information related to the position of mobile devices 5 and to travel body position information.Apply Work positional information generating unit 91C uses any one party in equipment positional information or driving body positional information, to generate work The construction location information of the positional information of the construction object constructed by hydraulic crawler excavator 100.Construction location information illustrates hydraulic pressure The construction results of excavator 100.
Construction location information generation unit 91C, when hydraulic crawler excavator 100 travels, does not use equipment positional information to make Generate construction location information with driving body positional information.When so-called hydraulic crawler excavator 100 travels, for example as operation detection Hydrostatic sensor at least one of 37Slf, 37Slb, 37Srf, the 37Srb in portion detect in order that mobile devices 5 travel behaviour When making human users' control bar (mobility operation component 33L, 33R).In this case, construction location information generates Portion 91C generates construction location information using driving body positional information.Construction location information generation unit 91C is as operation detection When hydrostatic sensor 37Slf, 37Slb, 37Srf, the 37Srb in portion detect that mobile devices 5 have stopped, using work clothes set Confidence ceases and to generate construction location information.
<Display system 28>
Display system 28 is used for illustrating to comprise the expression of the information in the design face becoming construction object to operator The related information of the attitude of the information of the shape of mountain in operating area and equipment 2 or position.In operator operative employee Make device 2 or mobile devices 5 ground of construction object is excavated, thus when construction becomes design face described later, operator Member efficiently can be constructed using the information shown by display system 28.That is, display system 28 is can be to operator The system that the operation of the equipment 2 that member is carried out is supported.Display system 28 is except above-mentioned large arm working cylinder 10, forearm Working cylinder 11 and scraper bowl working cylinder 12, three-dimensional position sensing device 23 and slant angle sensor 24, the 1st stroke sensor 16, Beyond 2nd stroke sensor 17 and the 3rd stroke sensor 18, also there is the display input device 38 as display device, show The flexible piezoelectric sound-generating devices 46 showing control device 39 and comprising the speaker for notifying alarm tone etc..
Display input device 38 has the board-like input unit of touch surface 41 and LCD (Liquid Crystal Display, liquid Crystal display screen) etc. display part 42.Display input device 38 shows for providing for the information of construction that carries out excavating etc. Guide picture.Additionally, in guide picture, showing various buttons.As operator operator (to hydraulic crawler excavator 100 is maintenance person when being checked or repairing) display system 28 can be executed by touching the various buttons on guide picture Various functions.
Display control unit 39 executes the various functions of display system 28.Display control unit 39 be have comprise RAM with And the electronic-controlled installation in the display processing portion 44 showing side storage part 43, CPU etc. of at least one party in ROM.Display side is deposited Storage portion 43 is stored with equipment data.Equipment packet contains above-mentioned length L1 of large arm 6, length L2 of forearm 7, shovel Length L3 of bucket 8.Additionally, equipment packet contains the inclination of the tiltangleθ 1, the tiltangleθ 2 of forearm 7 and scraper bowl 8 of large arm 6 The respective minima of angle θ 3 and maximum.
Display control unit 39 can be mutual via means of communication wirelessly or non-wirelessly with electronic control device for vehicle 26 Communication.As wired means of communication, e.g. in-car LAN (Local Area Network, LAN).Display control unit 39 information based on aforesaid design terrain data and the detected value from aforesaid various sensors etc., make guide picture show It is shown in the display part 42 of display input device 38.In this case, display control unit 39 is for example from construction management device 90 Storage part 92 reads design terrain data and carrys out the display for guide picture.Design landform is for example as shown in fig. 6, have by three Angular polygon and multiple design faces 45 of showing respectively.In addition, in figure 6, only to 1 appending symbols in multiple design faces 45, eliminate the symbol in other design faces.Construction is to one or more design faces liking in these design faces 45.Operator One or more the design faces in these design faces 45 are selected to be used as target face 70.Target face 70 is in multiple design faces 45, connects Get off the face that will be excavated.Display control unit 39 be used in by the position informing of target face 70 to operator guiding Picture is shown in display input device 38.In addition, display control unit 39 can also make the construction of construction management device 90 The construction location presentation of information that positional information generating unit 91C is generated is in the display part 42 of display input device 38.With regard to construction Positional information describes in detail below in the display of display part 42.
<The method asking for the position of spear 8T of scraper bowl 8>
In the present embodiment, the construction location that construction location information generation unit 91C of construction management device 90 is generated The positional information on the ground of construction object that packet was excavated containing scraper bowl 8 etc..This positional information is equipment positional information. By the spear 8T of scraper bowl 8, construction object is excavated.Therefore, when construction location information generation unit 91C generates equipment During positional information, at least need to ask for the position (below, being properly termed as spear position P3) of spear 8T when excavating.Spear position Put P3 for example to represent by the coordinate in global coordinate system { X, Y, Z }.In construction management device 90, the work shown in Fig. 5 Device location information generating unit 91A is asked for spear position P3.Equipment positional information generating unit 91A is based on three-dimensional position Put sensor 23, the 1st stroke sensor 16, the 2nd stroke sensor 17, the 3rd stroke sensor 18 and slant angle sensor 24 Deng detected value, to ask for the spear position P3 of the scraper bowl 8 in global coordinate system { X, Y, Z }.In the present embodiment, according to such as Under the spear position P3 to ask for scraper bowl 8 for the mode.
Fig. 7, Fig. 8 are figures illustrating for the method to the spear position P3 asking for scraper bowl 8.Fig. 7 is liquid The side view of pressure excavator 100, Fig. 8 is the rearview of hydraulic crawler excavator 100.When asking for the spear position P3 of scraper bowl 8, construction Equipment positional information generating unit 91A of managing device 90 as shown in Figure 7, Figure 8, to the setting of aforesaid GNSS antenna 21 Position P1 is that the vehicle body coordinate system { Xa, Ya, Za } of initial point is asked for.In this example, by before and after hydraulic crawler excavator 100 Direction, that is, the Ya direction of principal axis of coordinate system (vehicle body coordinate system) COM of vehicle body 1, is set to respect to global coordinate system COG Y direction produce tilt.Additionally, coordinate in vehicle body coordinate system COM for the large arm pin 13 is (0, Lb1 ,-Lb2), and in advance First store in the storage part 92 of construction management device 90.
Three-dimensional position sensing device 23 shown in Fig. 2 and Fig. 4 detects set location P1, P2 of GNSS antenna 21,22.According to The coordinate position of set location P1, P2 detecting, to calculate the axial unit vector of Ya by formula (1).
[number 1]
Ya=(P1-P2)/| P1-P2 | ... (1)
If as shown in fig. 7, being directed through this plane represented by 2 vectors of Ya and Z and the vector Z vertical with Ya ', formula (2) and formula (3) relation set up.The c of formula (3) is constant.According to formula (2) and formula (3), Z ' can be expressed as formula (4). And then, if the vector vertical with Ya and Z ' is set to X ', X ' is as shown in formula (5).
[number 2]
(Z ', Ya)=0 ... (2)
[number 3]
Z '=(1-c) × Z+c × Ya ... (3)
[number 4]
Z '=Z+ { (Z, Ya)/((Z, Ya) -1) } × (Ya-Z) ... (4)
[number 5]
X '=Ya ⊥ Z ' ... (5)
As shown in figure 8, vehicle body coordinate system COM is to make it have rotated angle of heel θ 4 around Ya axle, so being expressed as formula (6).
[number 6]
Additionally, according to the detected value of the 1st stroke sensor 16, the 2nd stroke sensor 17 and the 3rd stroke sensor 18, To calculate aforesaid large arm 6, forearm 7, the current tiltangleθ 1 of scraper bowl 8, θ 2, θ 3.Scraper bowl in vehicle body coordinate system COM The coordinate (xat, yat, zat) of 8 spear 8T, can be using tiltangleθ 1, θ 2, θ 3 and large arm 6, forearm 7, the length of scraper bowl 8 Degree L1, L2, L3, to be asked for by formula (7), formula (8) and formula (9).The spear 8T of scraper bowl 8 is set in vehicle body coordinate system Move in the Ya-Za plane of COM.The coordinate of the spear 8T of the scraper bowl 8 in global coordinate system COG can be asked by formula (10) Take.The coordinate of the spear 8T in global coordinate system COG is spear position P3.Spear position P3 passes through in global coordinate system COG Coordinate { X, Y, Z } is representing.Equipment positional information generating unit 91A makes the spear position P3 so calculating store construction pipe In the storage part 92 of reason device 90.
[number 7]
Xat=0 ... (7)
[number 8]
Yat=Lb1+L1 × sin θ 1+L2 × sin (θ 1+ θ 2)+L3 × sin (θ 1+ θ 2+ θ 3) ... (8)
[number 9]
Zat=-Lb2+L1 × cos θ 1+L2 × cos (θ 1+ θ 2)+L3 × cos (θ 1+ θ 2+ θ 3) ... (9)
[number 10]
P3=xat Xa+yat Ya+zat Za+P1 ... (10)
<The centre of gyration of upper rotation 3 on the ground plane of hydraulic crawler excavator 100 seek method>
In the present embodiment, the construction location that construction location information generation unit 91C of construction management device 90 is generated Information is included in ground plane, crawler belt 5a, 5b of possessing in mobile devices 5 and the ground R's of hydraulic crawler excavator 100 etc. sometimes The positional information on face that ground connection object connects.This positional information is driving body positional information.Driving body positional information, for example, wrap (below, suitably claim containing the position with the centre of gyration of the upper rotation 3 on the position of the ground plane CC of mobile devices 5 For centre of gyration position) the related information of P4, to be represented by the coordinate { X, Y, Z } in global coordinate system COG.Ground plane CC is Crawler belt 5a, 5b of being possessed by mobile devices 5 and the plane specifying.Centre of gyration position P4 on ground plane CC is ground plane The intersection point of CC and rotary middle spindle Zr.
When construction location information generation unit 91C generates construction location information, the driving body positional information shown in Fig. 5 generates Portion 91B asks for centre of gyration position P4.That is, driving body positional information generating unit 91B is based on returning in vehicle body coordinate system COM Turn the coordinate of center P4, ask for the coordinate of global coordinate system COG by computing.So, driving body positional information generates Portion 91B obtains the coordinate of the centre of gyration position P4 in global coordinate system COG.Centre of gyration position in global coordinate system COG The coordinate of P4 changes according to the traveling of mobile devices 5.Therefore, driving body positional information generating unit 91B is in the row of mobile devices 5 In sailing, ask for the coordinate of centre of gyration position P4 with the cycle of regulation, and generate driving body positional information.For instance, it is possible to utilize To ask for centre of gyration position P4 with the geometry site of set location P1 of GNSS antenna 21.
The inclination angle that will be around the mobile devices 5 of the X-axis of global coordinate system COG is set to θ 5, will be around the mobile devices of Y-axis 5 angle of heel is set to θ 4.Distance by set location P1 on the direction orthogonal with ground plane CC and centre of gyration position P4 It is set to Za4, the distance of set location P1 on the Ya direction of principal axis of vehicle body coordinate system COM and centre of gyration position P4 is set For Ya4.Would indicate that the information of the distance of Za4 and Ya4 is prestored in equipment side storage part 35.If by world coordinatess Be that the coordinate of set location P1 in COG is set to { Xp1, Yp1, Zp1 }, then the centre of gyration position P4 in global coordinate system COG For example can ask for as { Xp1-Za4 × sin θ 4, Yp1+Ya4 × cos θ 5, Zp1 }.As previously mentioned it is also possible to use vehicle The coordinate of the centre of gyration position P4 in principal body axes COM is asking for the centre of gyration position P4 in global coordinate system COG.
Three-dimensional position sensing device 23 according to Fig. 2 and Fig. 4 for driving body positional information generating unit 91B is detecting GNSS Set location P1 of antenna 21.Driving body positional information generating unit 91B according to the coordinate of set location P1 detecting Xp1, Yp1, Zp1 }, ask for the centre of gyration position P4 in global coordinate system COG using aforesaid relation, for example, store storage part In 92.The processing unit 91 of the construction management device 90 shown in Fig. 4 is using based on striked by equipment positional information generating unit 91A To spear position P3 equipment positional information or based in the revolution got required by driving body positional information generating unit 91B Any one party in the driving body positional information of heart position P4, to generate the construction location information of hydraulic crawler excavator 100.
<The track of the spear 8T of scraper bowl 8 shows>
Display control unit 39 makes the track of the spear 8T in excavation be shown in the display part of display input device 38 sometimes 42.Display control unit 39 can be asked for spear position P3, it is possible to use equipment positional information generating unit The spear position P3 getting required by 91A is shown in display part 42 making the track of the spear 8T in excavation.Additionally, work clothes set Put information generation unit 91A and can also generate equipment position using the spear position P3 getting required by display control unit 39 Information.
The spear position P3 based on the scraper bowl 8 asked for by aforesaid method for the display control unit 39 with this enforcement The design terrain data that in mode, the storage part 92 of the construction management device 90 shown in Fig. 4 is stored, as shown in fig. 6, calculating Three dimensional design landform with by the intersection 80 of the plane (below, being properly termed as Ya-Za plane 77) of the spear 8T of scraper bowl 8.So Afterwards, display control unit 39 will be shown in guide picture as target setting-out by the part of target face 70 in this intersection 80. Then, the display control unit 39 shown in Fig. 4 is made the track that scraper bowl 8 excavates the spear 8T during ground as manipulating object show Show that the example on the picture 42P of the display part 42 of display input device 38 illustrates.
Fig. 9 be represent the picture 42P of display part 42 show scraper bowl 8 spear 8T track TLi example figure.? In present embodiment, display control unit 39, more particularly display processing portion 44 is based on the present bit with hydraulic crawler excavator 100 Put the position to ask for the spear 8T of scraper bowl 8 for the related information.At least a portion in scraper bowl 8 is entered into by display processing portion 44 During prescribed limit AI of the surrounding of target face 70 on the direction orthogonal with target face 70, position based on spear 8T and ask for Arriving, in prescribed limit AI exist spear 8T track (below, being properly termed as spear track) TLi, as with construction The related presentation of information of result is on the picture 42P of display part 42.
By so, the operator of hydraulic crawler excavator 100 can pass through the picture in display part 42 for the spear track TLi The state of scraper bowl 8 actually excavation is confirmed on 42P.As a result, operator can identify spear track TLi on one side really by mesh Recognize current Construction Condition while being constructed, it is possible to improving working performance.Additionally, being present in prescribed limit in spear 8T In the case of outside AI, do not show its track.That is, design face 45 (or target face 70) information useless other than around will not It is shown on picture 42P, so when the operator of hydraulic crawler excavator 100 are according to design face propelling construction, display system 28 Operator can be supplied to easy to understand for the information related to construction results.
As shown in figure 9, spear track TLi is shown in the side view 54b excavating picture 54.That is, spear track TLi is side Depending on scraper bowl 8 spear 8T track.In side view 54b, show the icon 90 of the scraper bowl 8 of side-looking.Additionally, in side view In 54b, show the target setting-out 79 of the section of target face 70 illustrating side-looking and for regulation orthogonal with target face 70 Side setting-out Ld (double dot dash line of Fig. 9) in the ground table side setting-out Lu of prescribed limit AI on direction and ground.Ground table side setting-out Lu And setting-out Ld in side is parallel with target setting-out 79 in ground.In front view 54a, show the scraper bowl 8 faced icon 89 and The target setting-out 78 of the section of target face 70 and the 1st plane Pu described later and the 2nd plane Pd faced is shown.
Prescribed limit AI is on the direction (direction that the chain-dotted line n of Fig. 9 extend) orthogonal with target face 70, flat by the 1st The scope that face Pu is surrounded with the 2nd plane Pd, wherein, the 1st plane Pu is present in and specifies away from target face 70 towards ground surface Apart from the position of tu and parallel with target face 70, the 2nd plane Pd is present in towards in ground away from target face 70 predetermined distance td Position and parallel with target face 70.1st plane Pu and the friendship by the Ya-Za plane 77 (with reference to Fig. 6) of the spear 8T of scraper bowl 8 Line is ground table side setting-out Lu, and the 2nd plane Pd is setting-out Ld in side in ground with the intersection 80 of Ya-Za plane 77.
In fig .9, spear track TLi is the solid line described in prescribed limit AI.In fig .9, in prescribed limit AI The dotted line described of outside (in this embodiment than ground table side setting-out Lu more lateral) be also scraper bowl 8 spear 8T track (below, It is properly termed as the outer track of scope) TLe.In this embodiment, the outer track TLe of scope is recorded for convenience's sake, but aobvious Show and do not show on the picture 42P of reality in portion 42.
Predetermined distance tu, td that prescribed limit AI is specified can be formed objects it is also possible to difference.Regulation away from From tu, td of different sizes in the case of, in order to obtain the precision of construction, preferably predetermined distance td be less than predetermined distance tu.? It is stipulated that being formed objects apart from tu, td in present embodiment, i.e. tu=td.In the present embodiment it is stipulated that scope AI big Little, i.e. suitable big of the tolerance being sized to when target face 70 being constructed with hydraulic crawler excavator 100 of predetermined distance tu, td Little.By in such manner, it is possible to reduce exceedingly excavate design face 45 (target face 70) probability, and suppress construct precision under Fall.In addition it is also possible to by predetermined distance tu, td be sized to change.The display processing portion of such as display control unit 39 44 can also make the menu of change predetermined distance tu, td be shown in the display part 42 of the display input device 38 shown in Fig. 4, so that The operator of hydraulic crawler excavator 100 input change values from input unit 41.By so, even if according to design alteration or reality The situation of construction site etc. and create in the case of the needs of change prescribed limit AI it is also possible to flexibly correspond to, so making Industry efficiency is improved.
In the present embodiment it is stipulated that in multiple index edge 84a of having of scope AI and graphical information 84, symbol 84G Shown scope is corresponding.Level marks 84b represents the position being equivalent to target face 70.That is, orthogonal with target face 70 The size that the size of prescribed limit AI on direction is and tu+td is suitable and the model of the multiple index edge 84a shown by symbol 84G Enclose corresponding.In the present embodiment, as long as the spear 8T of scraper bowl 8 moves within the range, the just margin of tolerance in design Interior target face 70 is constructed.
The ground to prescribed limit AI for the scope shown by symbol 84B in multiple index edge 84a that graphical information 84 has The outside of table side is represented.In multiple index edge 84a that graphical information 84 has, the scope shown by symbol 84Y is to rule The outside determining side in the ground of scope AI is represented.This Range Representation exceeds the scope pair of the tolerance during design of target face 70 Target face 70 is excavated.In multiple index edge 84a that graphical information 84 has, the scope shown by symbol 84R is to regulation In the ground of scope AI, the outermost of side is represented.This Range Representation significantly exceeds the tolerance during design of target face 70 Scope is excavated to target face 70.
Multiple index edge 84a that graphical information 84 has, in the excavation of hydraulic crawler excavator 100, show the shovel of scraper bowl 8 Sharp 8T and the position relationship of target face 70.That is, the distance according to spear 8T and target face 70, the display mode of index edge 84a is sent out Changing.For example, the index edge 84a of the scope of symbol 84B is shown as blue, and the index edge 84a of the scope of symbol 84G is shown as Green, the index edge 84a of the scope of symbol 84Y is shown as yellow, and the index edge 84a of the scope of symbol 84R is shown in red.
Therefore, in the case of the outside of the ground table side that the spear 8T of scraper bowl 8 is located at prescribed limit AI, shown in symbol 84B The index edge 84a of the scope going out is shown as blue.Additionally, in the case that the spear 8T of scraper bowl 8 is located in prescribed limit AI, symbol The index edge 84a of the scope number shown by 84B is shown as blue, and the index edge 84a of the scope shown by symbol 84G shows For green.Model in the case that the spear 8T of scraper bowl 8 is located at the outside of side in the ground of prescribed limit AI, shown by symbol 84B The index edge 84a enclosing is shown as blue, and the index edge 84a of the scope shown by symbol 84G is shown in green, and symbol 84Y The index edge 84a of shown scope is shown as yellow.So, by the basis of the display of spear track TLi, according to shovel The distance of spear 8T and the target face 70 of bucket 8 and change the display mode of index edge 84a, the operator of hydraulic crawler excavator 100 Can be more prone to know that prescribed limit AI whether the spear 8T of scraper bowl 8 is exceeding centered on target face 70 is dug Pick.As a result, operator easily the spear 8T of scraper bowl 8 are maintained in prescribed limit AI in excavation, so the essence of construction Degree is improved.
Spear track TLi, when the spear 8T of scraper bowl 8 enters in prescribed limit AI, is shown in prescribed limit AI.Logical Cross so, display control unit 39 can be excavated actual in prescribed limit AI for the spear 8T that can consider scraper bowl 8 In the case of spear track TLi be shown on the picture 42P of display part 42, so operator's energy of hydraulic crawler excavator 100 Enough confirmation Construction Conditions in the range of necessity and sufficiency.In addition, being not limited to this it is also possible to the part in scraper bowl 8 is for example carried on the back When face enters in prescribed limit AI, spear track TLi is shown in prescribed limit AI.So, in the present embodiment, shovel As long as tongue mark TLi shows when being partly in prescribed limit AI at least scraper bowl 8.
Because not showing spear track TLi outside prescribed limit AI, for the once excavation for target face 70, For example in the case that the ground (target face 70) of manipulating object is hillside fields, by scraper bowl 8, hillside fields is being dug from top to bottom to rule Fixed depth plane get up such excavate terminate, the spear 8T of scraper bowl 8 occurs in after outside prescribed limit AI it is stipulated that scope AI The outer track TLe of the scope in outside is not displayed.After outside the spear 8T of scraper bowl 8 occurs in prescribed limit AI, in prescribed limit Till spear 8T enters in prescribed limit AI next time, former state remains aobvious to shown spear track TLi in AI as before Show.By so, the operator of hydraulic crawler excavator 100 can confirm the spear of scraper bowl 8 by the picture 42P of display part 42 8T excavates the historical record on the ground of construction object.Additionally, display control unit 39 does not appear in the outside of prescribed limit AI The outer track TLe of scope, it is possible to make operator reliably identify the information near the target face 70 needed for operation.Additionally, Because display control unit 39 does not appear in the outer track TLe of scope in the outside of prescribed limit AI, thus need not be by scope outer rail The data of mark TLe is saved in display side storage part 43.Therefore, it is possible to efficiently and effectively using display side storage part 43 Memory capacity.
In above-mentioned example, it is set to the outer track TLe of not indication range, but present embodiment is not limited to this.For example, Display control unit 39 can also make the outer respective display mode of track TLe of spear track TLi and scope be displayed differently from aobvious Show on the picture 42P in portion 42.As one, display control unit 39 can also be used with red solid line display spear track TLi The solid line of inconspicuous color (in this example, such as light blue) and ratio expression spear track TLi is thin compared with the TLi of spear track Dotted line carry out the outer track TLe of indication range.By so, display control unit 39 can make the operator of hydraulic crawler excavator 100 Member's identification is present in the spear track TLi in prescribed limit AI.Additionally, operator are because being capable of the outer track of mesh identification range TLe, thus for example make scraper bowl 8 on the ground of manipulating object mobile in the case of it is also possible to make the outer track TLe of scope to changing The operational approach of kind equipment control member 31L, 31R is simultaneously sought the raising of working performance and is played a role.
So, even if making the outer respective display mode of track TLe of spear track TLi and scope be displayed differently from display part On 42 picture 42P, it is present in scope track TLe and the spear rail being present in prescribed limit AI outward outside prescribed limit AI Mark TLi compares also unobtrusively.Therefore, even if outer for scope track TLe is shown on picture 42P, also hardly hinder hydraulic pressure The identification to spear track TLi for the operator of excavator 100.As a result, when the operator of hydraulic crawler excavator 100 are according to setting During the propelling construction of meter face, display system 28 can be supplied to operator by easy to understand for the information related to construction results.
As described above, in the present embodiment, in the spear track TLi in prescribed limit AI and outside prescribed limit AI As long as scope outer track TLe display mode different.Different with regard to making both display modes, except comprising both are entered Make after row display, beyond respective display mode difference, also to comprise the outer track TLe of not indication range and only show spear track TLi these two aspects.
In the present embodiment, display control unit 39 can also spear 8T based on scraper bowl 8 and target face 70 or not by It is set as the distance in the design face 45 of target face 70, send sound as alarm.For example, in spear 8T on the ground of construction object When middle side goes out to outside prescribed limit AI, i.e. when from ground, side setting-out Ld is moved to side in ground to spear 8T, display control fills Put 39 and can also send alarm tone by the flexible piezoelectric sound-generating devices 46 shown in from Fig. 4.If further, since the spear 8T of scraper bowl 8 exceeds mesh Ground is excavated in mark face 70 or design face 45, then can produce the trouble of backfill etc., thus can not be to design face 45 (target face 70) Effectively constructed.Therefore, display control unit 39 is also sent as based on the alarm of spear 8T and the distance in design face 45 Sound.So, send sound as alarm by changing based on the distance of spear 8T and target face 70 or design face 45 Mode, can make the operator of hydraulic crawler excavator 100 recognize and target face 70 or design face 45 are excavated excessively.Therefore, grasp Make personnel and can adjust excavation amount thus minimally suppressing excessively to excavate.
<Construction location information>
Because construction location information is equivalent to the construction results of hydraulic crawler excavator 100, if the construction shown in accumulation Fig. 4 The up-to-date construction location information that managing device 90 is generated, then can hold the Construction Condition of this time point.Management construction is right The manager of the construction plan of elephant can learn progress status and whether achieve correct construction according to Construction Condition.As Front described, construction location information is any one party in driving body positional information or equipment positional information.
Figure 10 is the figure for illustrating to construction location information.Figure 11 to Figure 14 is for driving body positional information The figure illustrating.Figure 15 is the figure for illustrating to equipment positional information.In the present embodiment, travel position Confidence breath is the coordinate travelling side present situation more new line Lc in global coordinate system COG.It is logical for travelling side present situation more new line Lc Cross aforesaid centre of gyration position P4 and and and hydraulic crawler excavator parallel with the Xa-Ya plane of vehicle body coordinate system COM The orthogonal straight line of 100 direct of travel.Travel side present situation more new line Lc length be a pair of crawler belt 5a, 5b outside each other it Between distance (below, be properly termed as carry out spacing interval between shelterbelt) Wc.Carry out spacing interval between shelterbelt Wc to be prestored in storage part 92.
Equipment positional information is coordinate in global coordinate system COG for equipment side present situation more new line Lb.Work Device side present situation more new line Lb is the straight line linking up each spear 8T of scraper bowl 8.Equipment side present situation more new line Lb Length be scraper bowl 8 width (below, suitably becoming outside width of bucket) Wb.Outside width of bucket Wb be with the scraper bowl shown in Fig. 1 The full-size of the scraper bowl 8 on the parallel direction of the direction of principal axis of pin 15.Outside width of bucket Wb is prestored in storage part 92.Example As in the case that scraper bowl 8 is inclination scraper bowl or hillside fields scraper bowl and spear is the rectilinear form being formed by steel plate, along this The straight line of shovel just becomes equipment side present situation more new line Lb.Scraper bowl 8 is replaced to be provided with equipment 2 shown in Fig. 1 In the case of rock drill etc., the positional information of the front end of the drill bit of rock drilling, the more particularly seat in global coordinate system COG Mark becomes equipment positional information.
The driving body positional information that driving body positional information generating unit 91B shown in Fig. 5 is generated is according to hydraulic crawler excavator The amount of movement of 100 time per units or whether generated traveling side present situation more new line Lc, by the 1st method, the 2nd method or 3rd method is generating.As shown in figure 11, the 1st method will travel the direction of side present situation more new line Lc, that is, travel side present situation more The direction that new line Lc extends, is set to and the position based on the hydraulic crawler excavator 100 detected by the position detection part 19 shown in Fig. 2 Information and the orthogonal direction of the moving direction FD of hydraulic crawler excavator 100 that asks for.If the 1st method is not due to knowing hydraulic excavating The moving direction FD of machine 100 then can not use, and the amount of movement Mv being therefore applied to hydraulic crawler excavator 100 time per unit is more than rule Determine the situation of threshold value Mvc.Defined threshold Mvc is the precision of the RTK-GNSS being used according to position detection part 19 and determines Value, for example, is set as the 1m/ second.
In the case of Mv ＞ Mvc, driving body positional information generating unit 91B as shown in figure 11, will towards with moving direction The orthogonal direction of FD, pass through centre of gyration position P4 and the straight line parallel with the Xa-Ya plane of vehicle body coordinate system COM It is generated as travelling side present situation more new line Lc.Travel side present situation more new line Lc in the left-external side away from crawler belt 5a respectively or crawler belt 5b The position midpoint of present situation more new line Lc (travel side) of right outside Wc/2 pass through rotary middle spindle Zr.This traveling side present situation Positional information in more new line Lc, that is, the coordinate in global coordinate system COG become driving body positional information.Asking for movement side To in the case of FD, driving body positional information generating unit 91B as shown in figure 12, (is somebody's turn to do according in different the multiple of moment acquirement It is 2 in example) centre of gyration position P4_m-1 and centre of gyration position P4_m, to ask for from centre of gyration position P4_m-1 direction The vector (m is natural number) of centre of gyration position P4_m.This vectorial direction is set to move by driving body positional information generating unit 91B Dynamic direction FD.
Hydraulic crawler excavator 100 is turned round due to upper rotation 3, if thus on the basis of the position of equipment 2 or scraper bowl 8 To ask for driving body positional information, then to there is the situation producing error.Driving body positional information generating unit 91B can moved Under conditions of dynamic direction FD, ask for driving body positional information based on moving direction FD, thus, it is possible to accurately ask for travelling Body position information.Then, the 2nd method asking for driving body positional information is illustrated.
2nd method is applied to Mv≤Mvc and has generated the situation travelling side present situation more new line Lc.In this situation Under, driving body positional information generating unit 91B as shown in figure 13, generate towards with the orthogonal direction of line ND, pass through the centre of gyration Position P4 and the straight line parallel with the Xa-Ya plane of vehicle body coordinate system COM are used as new traveling side present situation and update Line Lc_n (n be natural number), wherein, described line ND and the traveling side present situation more new line generated in the process cycle of last time Lc_n-1 is orthogonal.Travel the side present situation more new line Lc_n right outside Wc/2 in the left-external side away from crawler belt 5a respectively or crawler belt 5b Rotary middle spindle Zr is passed through in position (travelling the midpoint of side present situation more new line Lc_n).In this traveling side present situation more new line Lc_n Positional information, that is, the coordinate in global coordinate system COG become driving body positional information.2nd method can not moved It is also possible to travel side present situation more new line Lc_n by using obtained by last time in the case of the FD of direction, to suppress to travel position The precise decreasing of confidence breath.
3rd method is applied to Mv≤Mvc and does not generate the situation travelling side present situation more new line Lc.In this situation Under, driving body positional information generating unit 91B as shown in figure 14, generates towards with respect on the fore-and-aft direction of upper rotation 3 Extend the orthogonal direction of straight line (below, being properly termed as fore-and-aft direction) LTD, pass through centre of gyration position P4 and and vehicle The straight line that the Xa-Ya plane of principal body axes COM is parallel is used as new traveling side present situation more new line Lc.Travel side present situation More new line Lc (travels side present situation more new line Lc in the position of the left-external side away from crawler belt 5a respectively or the right outside Wc/2 of crawler belt 5b Midpoint), by rotary middle spindle Zr.Fore-and-aft direction LTD is the direction parallel with the Ya axle of vehicle body coordinate system COM.Should Travel the positional information in present situation more new line Lc of side, that is, the coordinate in global coordinate system COG becomes driving body positional information. Even if the 3rd method is in the case of failing to obtain moving direction FD and there is not original traveling side present situation more new line Lc, Also driving body positional information can be generated.So, driving body positional information generating unit 91B is travelled based on hydraulic crawler excavator 100 Moving direction and generate driving body positional information.Then, the method asking for equipment positional information is illustrated.
Equipment positional information generating unit 91A shown in Fig. 5 generates the spear row of the multiple shovel 8B having with scraper bowl 8 The parallel and length straight line suitable with outside width of bucket Wb is used as equipment side present situation more new line Lb.Equipment side present situation The midpoint of more new line Lb, that is, the position of end Wb/2 of the left and right away from scraper bowl 8 is consistent with the center that spear arranges respectively.In Figure 15 institute In the example shown, in the midpoint of equipment side present situation more new line Lb and shovel 8Ba, 8Bb, 8Bc, 8Bd, 8Be, it is present in center The top of shovel 8Bc is that spear 8T is consistent.The center of spear row is aforesaid spear position P3.Equipment positional information generating unit As long as 91A asks for the spear position P3 of spear 8Bc, and respectively extended on the left and right directions of scraper bowl 8 according to spear position P3 generation The line of the length of Wb/2 is used as equipment side present situation more new line Lb.The so required equipment side present situation got Positional information in more new line Lb, that is, the coordinate in global coordinate system COG just become equipment positional information.By by work Make device side present situation more new line Lb and be set to equipment positional information, can correctly ask for equipment 2 and more particularly shovel The positional information of the construction object that bucket 8 is constructed is construction results.
In the present embodiment, construction location information generation unit 91C is in the excavation being carried out by scraper bowl 8 or hydraulic excavating In the case that the traveling construction location information of machine 100 there occurs change, it is updated to up-to-date information.In hydraulic crawler excavator During 100 traveling, usual equipment 2 is in halted state, but is also possible to manipulate equipment 2 hydraulic crawler excavator 100 While travelling.This be operator operate mobility operation component 33L, 33R while operation element device control member 31L, The situation of 31R, is that equipment 2 only moves in the air and construction object do not carried out excavating such situation.In this case, If equipment positional information is set to construction location information, although equipment 2 is not excavating still renewal construction position The result of confidence breath is possible to make the precise decreasing of construction location information.In the present embodiment, construction location information generates Portion 91C does not use equipment positional information will travel body position in the case that hydraulic crawler excavator 100 is in transport condition Information is set to construction location information, so manipulating in the case that equipment 2 hydraulic crawler excavator 100 travels, energy Access correct construction location information.Additionally, when hydraulic crawler excavator 100 is in halted state, equipment 2 is excavated Deng.In this case, construction location information generation unit 91C is by being set to construction location information, energy by equipment positional information Enough results that construction object is excavated with equipment 2 reflect in construction location information.
Figure 16, Figure 17 are the figures for illustrating to the renewal of construction location information.Gridline shown in Figure 16, Figure 17 It is to pass through to describe in global coordinate system COG { X, Y, Z } to represent the positional information of construction object to construct object's position The line being represented.(below, fit in the part of the multiple straight lines towards X-direction and the multiple straight line intersection forks towards Y-direction Local object's position of referred to as constructing), for example there is the terrain data of construction object.For example it is assumed that the scraper bowl of hydraulic crawler excavator 100 8 pairs of constructions object's position PGa (X1, Y1, Z1), constructions object's position PGb (X2, Y2, Z2) are excavated, construction location coordinate PGc (X3, Y3, Z3) does not also excavate.The track (with reference to Figure 17) of spear 8T now is shown by A.Track A is also aforesaid work Make the track of device side present situation more new line Lb movement.In this case, due to short transverse, that is, track A's in z-direction is exhausted Less than construction object's position PGa, PGb to value, therefore illustrate construction object is excavated and generated new face.This means The value of Z coordinate is got over ninor feature and is just closer to side in ground.Therefore, the absolute value of the Z-direction of track A is less than construction object's position The value (above-mentioned situation, Z1 or Z2) of Z coordinate also implies that to be excavated by construction.Construction location letter shown in Fig. 5 The equipment positional information that equipment positional information generating unit 91A is generated by breath generating unit 91C is as new construction position Confidence ceases and to update the value of construction object's position PGa, PGb.In this case, because there occurs the only Z coordinate of change, Update the value of Z coordinate.
As shown in figure 17, represented by B the scraper bowl 8 of hydraulic crawler excavator 100 move above construction object's position and Track when construction object not being excavated.Track B is also the track of aforesaid equipment side present situation more new line Lb movement. In this case, because the absolute value of the track B in Z-direction is bigger than construction object's position PGa, PGb, PGc, therefore do not generate The new face that construction object is excavated and formed.In this case, construction location information generation unit 91C shown in Fig. 5 is not Update the value of construction object's position PGa, PGb, PGc.That is, the applying of the construction location information being maintained as in the process cycle of last time Work object's position PGa, PGb, PGc.So, construction location information generation unit 91C is in the situation using equipment positional information Under, the equipment positional information of the current point in time being generated in equipment positional information generating unit 91A with existed The short transverse of construction location information on position compare change hour, by construction location information updating be current point in time work Make device location information.
It is assumed that being under halted state in hydraulic crawler excavator 100, operator operation element device control member 31L, 31R makes scraper bowl 8 carry out action in the air.In this case, due to asking for having than the Z-direction shown in construction object's position The equipment side present situation line Lb of the big value of coordinate figure, does not therefore update construction location information.But, in construction object's position letter Cease in the case that non-existent place makes scraper bowl 8 carry out action in the air, construction location information generation unit 91C can also be according to this Action is generating construction location information.In addition, hydraulic crawler excavator 100 be in stopping and equipment 2 and inactive, only draw In the state of holding up driving, do not update construction location information.
It is assumed that hydraulic crawler excavator 100 travels and have passed through construction object's position PGa, PGb, PGc.In this case, aforementioned Traveling side present situation more new line Lc pass through construct object's position PGa, PGb, PGc.In this case, the construction position shown in Fig. 5 Put information generation unit 91C using driving body positional information generating unit 91B is generated in motion driving body positional information as new Construction location information to all of construction object's position PGa, PGb, PGc value be updated.Row in hydraulic crawler excavator 100 In sailing, no matter the value of all of construction object's position PGa, PGb, PGc is all updated to up-to-date construction location by the change of Z coordinate Information.I.e., in the present embodiment, construction location information generation unit 91C, in the case of using driving body positional information, will be applied Work positional information is updated to the driving body positional information of the current point in time that driving body positional information generating unit 91B is generated.
Aforesaid example be construction object terrain data construct object's position presence situation, but construction object position The value of the Z coordinate put does not exist, or construction object's position all of coordinate all non-existent in the case of, construction location information give birth to One-tenth portion 91C also can update construction location information.For example, construction object's position Z coordinate value not in the presence of, As long as construction location information generation unit 91C is when scraper bowl 8 carries out excavating to construction object or hydraulic crawler excavator 100 travels, by root Equipment side present situation more new line Lb when accordingly or the letter of construction location obtained from Z coordinate travelling side present situation more new line Lc Breath is assigned to, as new construction location information, object's position of constructing.Even if the construction X-coordinate of object's position, Y-coordinate with And Z coordinate value non-existent in the case of, as long as construction location information generation unit 91C also scraper bowl 8 to construction object dig When pick or hydraulic crawler excavator 100 travel, will be updated according to equipment side present situation more new line Lb now or traveling side present situation It is right that the X-coordinate of line Lc, Y-coordinate and construction location information obtained from Z coordinate are assigned to construct as new construction location information As position.
<The action example of construction management device>
Figure 18 is the flow chart of that represents the action of construction management device involved by present embodiment.In step In S101, in the case of being in traveling in hydraulic crawler excavator 100 (step S101, "Yes"), the construction management device 90 shown in Fig. 5 Processing unit 91 make process proceed to step S102.By at least 1 in hydrostatic sensor 37Slf, 37Slb, 37Srf, 37Srb Individual whether detect in order that the mobile devices 5 of hydraulic crawler excavator 100 travel and to the mobility operation component 33L shown in Fig. 4, 33R is operated, and to judge whether hydraulic crawler excavator 100 is in traveling.
That is, if at least one in hydrostatic sensor 37Slf, 37Slb, 37Srf, 37Srb detects and there occurs for making liquid The operation that the mobile devices 5 of pressure excavator 100 travel, then hydrostatic sensor 37Slf, 37Slb, 37Srf, 37Srb shown in Fig. 4 The rising of detection pilot pressure.If the pilot pressure detected by these sensors is higher than defined threshold, to the liquid travelling Piezoelectricity motivation 5c supplies hydraulic oil to drive any one party in crawler belt 5a, 5b thus hydraulic crawler excavator 100 travels.Pass in hydraulic pressure In the case that pilot pressure detected by sensor 37Slf, 37Slb, 37Srf, 37Srb is less than defined threshold, illustrate that hydraulic pressure digs The mobile devices 5 of pick machine 100 have stopped or have stopped.If pilot pressure is less than defined threshold, stop using for travelling The hydraulic oil of fluid pressure motor 5c supply, hydraulic crawler excavator 100 stops.
That is, if the pilot pressure detected by hydrostatic sensor 37Slf, 37Slb, 37Srf, 37Srb is higher than defined threshold, Then can interpolate that and be in transport condition for hydraulic crawler excavator 100.If hydrostatic sensor 37Slf, 37Slb, 37Srf, 37Srb are examined The pilot pressure measured is less than defined threshold, then can interpolate that and be in halted state for hydraulic crawler excavator 100.Processing unit 91 is 4 In pilot pressure detected by individual hydrostatic sensor 37Slf, 37Slb, 37Srf, 37Srb, at least one has exceeded defined threshold In the case of, it is judged to that hydraulic crawler excavator 100 is in transport condition.Processing unit 91 4 hydrostatic sensor 37Slf, 37Slb, In the case that pilot pressure detected by 37Srf, 37Srb is entirely below defined threshold, it is judged to that hydraulic crawler excavator 100 is in Halted state.So, by using pilot pressure, processing unit 91 can easily be determined that hydraulic crawler excavator 100 is in travelling State is in halted state.
In step s 102, the amount of movement Mv in the hydraulic crawler excavator 100 of time per unit exceedes the feelings of defined threshold Mvc Under condition (step S102, "Yes"), driving body positional information generating unit 91B of processing unit 91 makes process proceed to step S103.? In step S103, driving body positional information generating unit 91B asks for the movement of hydraulic crawler excavator 100 using foregoing method Direction FD.In step S104, it is existing that driving body positional information generating unit 91B generates traveling side by aforesaid 1st method Shape more new line Lc.Then, proceed to step S105, driving body positional information generating unit 91B is travelling side present situation more new line Lc Each construction object's position (grid of Figure 16 of the grid of terrain data representing construction object in global coordinate system COG are passed through Lattice point) in the case of (step S105, "Yes"), make process proceed to step S106.In step s 106, the construction position of processing unit 91 Put information generation unit 91C and travelling the position by grid point for side present situation more new line Lc, the Z coordinate of this grid point is updated to Travel the Z coordinate of side present situation more new line Lc.That is, construction location information generation unit 91C is used as driving body positional information Travel side present situation more new line Lc to generate construction location information, and update the value of grid point.Travelling side present situation more new line Lc terminates a process cycle and transfers to next not over (step S105, "No") in the case of grid point, processing unit 91 Individual process cycle.
Then, return to step S102 to illustrate.It is less than in the amount of movement Mv of the hydraulic crawler excavator 100 of time per unit In the case of defined threshold Mvc (step S102, "No"), driving body positional information generating unit 91B of processing unit 91 makes before processing Enter step S107.In step s 107, the process cycle of last time generates the situation travelling side present situation more new line Lc Under (step S107, "Yes"), driving body positional information generating unit 91B makes process proceed to step S108.In step S108, OK Sail body position information generation unit 91B and traveling side present situation more new line Lc is generated by aforesaid 2nd method.Then, processing unit 91 execution steps S105 and step S106.
In step s 107, in the case of not generating traveling side present situation more new line Lc in the process cycle of last time (step S107, "No"), driving body positional information generating unit 91B makes process proceed to step S109.In step S109, travel Body position information generation unit 91B generates traveling side present situation more new line Lc by aforesaid 3rd method.Then, processing unit 91 Execution step S105 and step S106.
Then, return to step S101 to illustrate.In step S101, in not being to travel in hydraulic crawler excavator 100 In the case of (step S101, "No"), processing unit 91 makes process proceed to step S110.In step s 110, the work of processing unit 91 Make device location information generating unit 91A and equipment side present situation more new line Lb is generated based on spear position P3.Then, proceed to Step S111, in the case that equipment side present situation more new line Lb passes through grid point (step S111, "Yes"), work clothes set Putting information generation unit 91A makes process proceed to step S112.In step S112, in the data that there is construction object's position In the case of (step S112, "Yes"), equipment positional information generating unit 91A makes process proceed to step S113.
In step S113, equipment positional information generating unit 91A is to the construction object's position existing in grid point The Z coordinate of data is compared with the Z coordinate of equipment side present situation more new line Lb in this grid point.Next proceed to step S114 is for aforesaid comparative result, more right than the construction existing in grid point in the Z coordinate of equipment side present situation more new line Lb As the Z coordinate of the data of position little in the case of (step S114, "Yes"), equipment positional information generating unit 91A makes process Proceed to step S115.In step sl 15, construction location information generation unit 91C is passed through in equipment side present situation more new line Lb The position of grid point, the Z coordinate of this grid point is updated to the Z coordinate of equipment side present situation more new line Lb.That is, construction location Information generation unit 91C is used equipment side present situation more new line Lb as equipment positional information to generate construction location letter Breath, and update the value of the Z coordinate of grid point.
Then, return to step S111 to illustrate.In equipment side present situation more new line Lb not over grid point In the case of (step S111, "No"), processing unit 91 terminates a process cycle and simultaneously transfers to next process cycle.Then, return Return to step S112 to illustrate.In step S112, (step in the case of the data that there is not original construction object's position Rapid S112, "No"), equipment positional information generating unit 91A makes process proceed to step S115.In step sl 15, construct Positional information generating unit 91C position by grid point in equipment side present situation more new line Lb, by the Z coordinate of this grid point more It is newly the Z coordinate of equipment side present situation more new line Lb.Then, return to step S114 to illustrate.Existing in equipment side The Z coordinate of shape more new line Lb is not less than in the case of the Z coordinate of the data that grid point exists (step S114, "No"), processes Portion 91 terminates a process cycle and transfers to next process cycle.
According to such process, the construction location information updating of hydraulic crawler excavator 100 is up-to-date information.It is updated After construction location information is temporarily stored in the storage part 92 of construction management device 90, after the end of job of a day or operation In the regulation moment, read into outside from storage part 92.The construction location information being read is for example from construction management device 90 Storage part 92 is preserved by wired downloading in storage medium, or is saved in positioned at hydraulic crawler excavator via telecommunication circuit Data server of the handling facility of 100 outside etc..
USB (not shown) (Universal Serial Bus, general serial can also be set in construction management device 90 Bus) terminal, the USB storage as storage medium is connected with USB terminal construction location information is downloaded.This Outward it is also possible to arrange SD (Secure Digital, secure digital) storage card slot in construction management device 90, conduct is used The SD storage card of storage medium is downloading construction location information.
Construction management device 90 also can make generated construction location information, such as together with the design landform of construction object Data together image be shown in display system 28 display input device 38 display part 42.By so, hydraulic crawler excavator 100 Operator wait Construction Condition is intuitively identified by vision.Additionally, the operator of hydraulic crawler excavator 100 wait also by logical Cross vision and intuitively identify the position excavated not enough position or need correction.Additionally, operator of hydraulic crawler excavator 100 etc. Also the progress status of the easily rapid construction confirming construction object at the scene.
Figure 19 is to represent the figure of that shows construction location information on the picture 42P of display part 42.This display is The shown picture when operator carry out digging operation.This display is set to be changed into it in digging operation His picture, and the determined location (such as menu button 85) of picture 42P can be touched by operator, so that picture is migrated simultaneously The picture being shown.This display comprises the construction location information making construction results be that construction results presentation of information is scattergram Scattergram.In side view 54b, show the thick line shown in symbol TLi, TLd together with target setting-out 79.By scraper bowl 8 (icon 89B) The track TLi of spear 8T activity be shown as construction results, the track TLd that crawler belt 5a, 5b travel still is shown by thick line.
Front view 54a represents the scattergram of construction location information.It is scraper bowl 8 in target face in the construction surface as target (icon 89B) has carried out place that is mobile but not excavating is the region shown in symbol NOP.Additionally, target face is carried out excavate, And have the construction results equal with target construction surface place be symbol DP shown in region.And, target face was excavated Deep place is the region shown in symbol DN.Here, the region shown in symbol DN is for example by making the color difference of display come table Show the degree of excavating depth.Excavate place that must be deeper than defined threshold for example to represent by blueness, excavate less than this regulation threshold The place of the depth of value is for example by light blue expression.Can be recalled by touch determined location (for example, menu button 85) and set Determine picture, the species or quantity of color corresponding with the degree of excavating depth is arbitrarily set.By so constructing Result is shown on the picture 42P of display part 42 with scattergram, and operator intuitively can identify construction results by mesh.In addition, Such scattergram also can be shown in the display device of construction management system described later in the same way.
In addition it is also possible to replace construction results to show the scattergram of the construction location information of figure, and it is based on shown in Figure 18 Step S105 or the process that carried out of step S111 in presumption present situation more new line passed through the number of times of grid point, will be with this number of times Corresponding scattergram is in the front view 54a of the picture 42P that construction times scattergram is shown to display part 42.For example, number of times is Construction site more than stipulated number is represented by redness, this number of times be less than this stipulated number in the case of by blueness come table Show.The quantity of the color classification of construction times scattergram, that is, color category be not limited to 2 and can set multiple.In addition, will apply The species of the color shown in the scattergram of work positional information and construction times scattergram represents the figure of the left end in picture 42P Information 84.Additionally, the species of how many corresponding colors with construction times in construction times scattergram, quantity can be by touching The place (for example, menu button 85) touching regulation recalls setting screen and is arbitrarily set.
Using representing the flow chart of of action of aforesaid construction management device to making construction times scattergram show Process on the picture 42P of display part 42 illustrates.The number of times of the process that step S105 or step S111 are carried out is entered Row counts and stores in storage part 92.Display processing portion 44 can also replace to the construction location information as shown in Figure 19 The figure shows that shown of scattergram, and make to carry out figure with how many corresponding scattergrams of the number of times of this process to show Show.That is, display processing portion 44 has passed through the number of times of grid point (step S105 has been judged as "Yes" to travelling side present situation more new line Number of times) or equipment side present situation more new line passed through the number of times (being judged as the number of times of "Yes" in step S111) of grid point, Counted in for example during the operation of a day.Then, display processing portion 44 applies according to how many pairs of the number of times counting to get The place of work object carries out color differentiation and carries out figure shows as scattergram.Operator etc. identify such figure by mesh Shape shows, can hold the construction times of construction object.Then, operator etc. can be according to the figure representing this construction times Display, intuitively holds Construction Condition.By the determined location (such as menu button 85) in operator's touch input portion 41, show Show that the picture in portion 42 is migrated.Therefore, operator can make the scattergram of construction location information or aforementioned shown in Figure 19 The scattergram of construction times in any one party be shown in display part 42.
<Construction management system 200>
Figure 20 is the figure representing the construction management system 200 involved by present embodiment.Before construction management system 200 management The Construction Condition of hydraulic crawler excavator 100A, 100B that the construction management device 90 stated possesses.The hydraulic crawler excavator 100 being managed Can be one can also be multiple stage.In the case of management multiple stage hydraulic crawler excavator 100, these hydraulic crawler excavators 100 are permissible Operated it is also possible to be operated at different scenes at identical scene.Construction management system 200 has and communication line The data server 203 that 201 are connected.
In communication line 201, it is connected with by wirelessly carrying out via hydraulic crawler excavator 100A, 100B and antenna 40A, 40B The base station 202 of communication.This radio communication can utilize ground communication or satellite communication.In the present embodiment, data server 203 are connected with communication line 201 but it is also possible to make it possible to be carried out with communication line 201 by radio communication by wired Communication.Communication line 201 can use the Internet wire.Alternatively, it is also possible at the scene, be constructed logical by Wireless LAN system Letter circuit 201 and base station 202, and data server 203 and display device 206 are arranged at operating room in scene etc..
Data server 203 possesses processing unit 204 and storage part 205.Processing unit 204 has construction plan generating unit 204A, construction plan sending part 204B and construction location information acquiring section 204C.In data server 203, it is connected with display dress Put 206.Processing unit 204 is the computer possessing CPU etc..Storage part 205 comprises at least one party in RAM and ROM.Construction meter Draw the construction plan that generating unit 204A generates hydraulic crawler excavator 100A, 100B.Construction plan generating unit 204A for example, generates hydraulic pressure The design face of the construction object of excavator 100A, 100B, and store in storage part 205.Construction plan sending part 204B will apply The construction plan that work plan generating unit 204A is generated designs terrain data, is sent to hydraulic excavating via communication line 201 The construction management device 90 of machine 100A, 100B.Construction location information acquiring section 204C obtains hydraulic excavating via communication line 201 The construction location information that the construction management device 90 of machine 100A, 100B is generated.
The data server 203 that construction management system 200 possesses obtains construction location from hydraulic crawler excavator 100A, 100B Information, and store in storage part 205 it is thus possible to manage the progress status of daily construction.Additionally, data server 203 The construction location information obtaining from hydraulic crawler excavator 100A, 100B can also be made to carry out on display device 206 as shown in figure 19 As figure shows.By so, data server 203 can make the progress status of construction be shown understandablely, pipe Reason person can easily hold the progress status of construction.Additionally, manager also using construction management system 200 and can make data Server 203 obtains the construction location information that construction management device 90 is generated in real time.Manager obtains by using real-time Construction location information, ensuing operation instruction and construction plan promptly can be contacted hydraulic crawler excavator 100 Operator.This contact refers to, generates new design terrain data by construction plan generating unit 204A, and sends out from construction plan Portion 204B is sent to be sent to the construction management device 90 of hydraulic crawler excavator 100A, 100B via communication line 201.If so, with Phone or the such contact means of direct instruction compare, can be rapidly and correctly by new construction plan (design landform Data) it is presented to operator.
More than, construction management device 90, when hydraulic crawler excavator 100 travels, does not use related to the position of equipment 2 Equipment positional information and using the driving body positional information related to the position of mobile devices 5, to generate and to dig with hydraulic pressure The suitable construction location information of the construction results of pick machine 100.So, even if construction management device 90 is in hydraulic crawler excavator 100 row The construction knot of hydraulic crawler excavator 100 in the case of operating equipment 2 in sailing, is also only generated using driving body positional information Really.Therefore, although construction management device 90 can be avoided the equipment 2 in the traveling of hydraulic crawler excavator 100 and not dug The operation of pick etc. is still using equipment positional information.Then, during construction management device 90 is to travel in hydraulic crawler excavator 100 In the case of, only generate construction knot using the driving body positional information of the correct construction results representing hydraulic crawler excavator 100 Really.As described above, construction management device 90 is employing the hydraulic crawler excavator 100 as the excavation machinery with equipment 2 Information-aided construction in, can reliably and accurately promptly ask for after construction results change construction object shape Shape.
By using construction management device 90, also it is no longer necessary to the measurement after constructing, it is possible to reducing measurement operation Labour and time.Construction management device 90 in the case of using equipment positional information, position ratio in the height direction In the case that present situation is low construction location information updating is up-to-date information, and each generates during new driving body positional information all Update construction location information.Therefore, construction management device 90 can obtain the shape of construction object in real time.Manager passes through profit The construction location information being generated with construction management device 90, can by ensuing operation instruction and construction plan promptly It is presented to the operator of hydraulic crawler excavator 100.
Hydraulic crawler excavator 100, in the case of being excavated using equipment 2, is mostly rested on fixing position and carries out Excavate.In such construction, the construction location information of the movement based on hydraulic crawler excavator 100 cannot be obtained.Construction management Device 90, when excavating, generates hydraulic crawler excavator 100 using the equipment positional information related to the position of equipment 2 Construction results.Therefore, even if hydraulic crawler excavator 100 rests on fixing position and excavated it is also possible to accurately ask for Construction results.That is, even if the place that construction management device 90 does not travel in hydraulic crawler excavator 100 and being entered by equipment 2 Gone the construction excavated etc. place it is also possible to reliability and be properly generated construction location information.
If being completely dependent on GNSS or GPS to obtain construction results, in the case that hydraulic crawler excavator 100 runs at a low speed, Due to the boundary of the detectivity of GPS sensor, although hydraulic crawler excavator 100 is in transport condition and is possible to be judged as locating In dead ship condition, thus produce error in construction location information.Especially hydraulic crawler excavator 100 and passenger vehicle or wheel loader Or other construction implements of dump truck etc. are compared at low speed.Therefore, for hydraulic crawler excavator 100, it is more likely to Error is produced in construction location information.That is, the construction location information according to hydraulic crawler excavator 100 place at low speed, It is possible to not carried out such result of constructing, or old construction results are not updated and keep intact constant.
Present embodiment is based on whether carried out the idea of the operator according to hydraulic crawler excavator 100 and the conduct that operates Travel the operation of mobility operation component 33L, 33R of control bar (or pedal) of bar, using equipment positional information and traveling Any one party in the information of body position is generating construction location information.Therefore, it is possible to reliably detect the row of hydraulic crawler excavator 100 Sail and stop.Even as a result, the construction location information in hydraulic crawler excavator 100 place at low speed is it is also possible to reliability Ground detection constructed, and also can be reliably new and old construction results.
Construction management device 90 is whole as scene by the face excavating hydraulic crawler excavator 100 and the face also do not excavated Body, and construction location information updating is up-to-date information, the up-to-date landform at scene can be obtained.Then, no matter hydraulic pressure digs Pick machine 100 is travelled at the scene or by equipment 2, scene is excavated, and construction management device 90 is all using equipment Any one party in positional information or driving body positional information is used as construction location information and is updated, thus, it is possible to all the time The landform of job site is updated to up-to-date shape.
More than, present embodiment is illustrated, but to limit present embodiment not by above-mentioned content.This Outward, in above-mentioned element, comprise key element, substantially the same key element that those skilled in the art can be readily apparent that, Key element in so-called equivalency range.And, above-mentioned element can suitably be combined.And, without departing from this reality Apply various omissions, displacement or the change that can carry out element in the range of the purport of mode.For example, although equipment 2 There is large arm 6, forearm 7, scraper bowl 8, but the adnexa being installed on equipment 2 is not limited to this, be not limited to scraper bowl 8.
Symbol description
1 vehicle body
2 equipments
3 upper rotation
5 mobile devices
5a, 5b crawler belt
5c fluid pressure motor
8 scraper bowls
8B shovels
8T spear
9 attitude detecting portion
16 the 1st stroke sensors
17 the 2nd stroke sensors
18 the 3rd stroke sensors
19 position detection parts
21st, 22 antennas (GNSS antenna)
23 three-dimensional position sensing devices
25 operation devices
27 controller of vehicle
31L, 31R equipment control member
32L, 32R equipment operation detection part
33L, 33R mobility operation component
34L, 34R mobility operation test section
37D traveling control valve
37W operation control valve
37Slf, 37Slb, 37Srf, 37Srb hydrostatic sensor
37SBM, 37SBK, 37SAM, 37SRM hydrostatic sensor
38 display input devices
39 display control units
40 communication units
40A antenna
45 design faces
70 target face
The construction management device (construction management device) of 90 excavation machineries
91 processing units
91A equipment positional information generating unit
91B driving body positional information generating unit
91C construction location information generation unit
92 storage parts
100th, 100A, 100B hydraulic crawler excavator
200 construction management system
203 data servers
204 processing units
204A construction plan generating unit
204B construction plan sending part
204C construction location information acquiring section
205 storage parts
CC ground plane
COG global coordinate system
COM vehicle body coordinate system
FD moving direction
Lb equipment side present situation more new line
Lc, Lc_n travel side present situation more new line
LTD fore-and-aft direction
Mv amount of movement
P1, P2 set location
P3 spear position
P4, P4_m centre of gyration position
Zr rotary middle spindle

Claims (12)

1. the construction management device of a kind of excavation machinery, generates the information related to the result of described excavation machinery construction, described Excavation machinery has equipment, the revolving body installing described equipment and carries the traveling that described revolving body is travelled Body, described construction management device includes：
Vehicle state detecting section, its detection information related to the current location of described excavation machinery and attitude；
Equipment positional information generating unit, its testing result based on described vehicle state detecting section, ask for and described work The related information in the position of device is equipment positional information；
Driving body positional information generating unit, its testing result based on described vehicle state detecting section, ask for and described driving body The related information in position travel body position information；With
Construction location information generation unit, it uses any in described equipment positional information or described driving body positional information One side generating the construction location information as the information representing the construction object that there occurs change, and in described excavation machinery During traveling, do not generate described construction location letter using described equipment positional information using described driving body positional information Breath.
2. the construction management device of excavation machinery according to claim 1, wherein,
Described construction location information generation unit when described driving body is in halted state, using described equipment positional information To generate described construction location information.
3. the construction management device of excavation machinery according to claim 2, wherein,
The operation detection part that there is the operating portion of action controlling described driving body and detect the operation of described operating portion,
Described construction location information generation unit when described operation detection part detects for making operation that described driving body travels, Generate described construction location information using described driving body positional information, detect in described operation detection part described for making During the operation that driving body stops, generating described construction location information using described equipment positional information.
4. the construction management device of excavation machinery according to claim 3, wherein,
Described operating portion is control bar or the pedal of pilot pressure mode.
5. the construction management device of the excavation machinery according to any one in Claims 1 to 4, wherein,
Described construction location information generation unit in the case of using described equipment positional information, in described work clothes set The equipment positional information putting the current point in time that information generation unit is generated and the described construction location information having existed Short transverse on position compare change hour, the equipment that described construction location information updating is described current point in time Positional information.
6. the construction management device of the excavation machinery according to any one in Claims 1 to 4, wherein,
Described construction location information generation unit in the case of using described driving body positional information, by described construction location information It is updated to the driving body positional information of the current point in time that described driving body positional information generating unit is generated.
7. the construction management device of the excavation machinery according to any one in Claims 1 to 4, wherein,
Described equipment positional information is the information related to the position of the spear of the scraper bowl being installed on described equipment.
8. the construction management device of the excavation machinery according to any one in Claims 1 to 4, wherein,
Described driving body positional information generating unit generates described traveling position based on the moving direction that described excavation machinery travels Confidence ceases.
9. the construction management device of the excavation machinery according to any one in Claims 1 to 4, wherein,
Described construction location presentation of information is filled by described construction location information generation unit in the display that described excavation machinery possesses Put.
10. the construction management device of a kind of hydraulic crawler excavator, generates the information related to the result of described hydraulic crawler excavator construction, Described hydraulic crawler excavator has equipment, the revolving body installing described equipment and the described revolving body of carrying and is travelled Driving body, described construction management device includes：
Vehicle state detecting section, its detection information related to the current location of described hydraulic crawler excavator and attitude；
Equipment positional information generating unit, its testing result based on described vehicle state detecting section, ask for and described work The related information in the position of device is equipment positional information；
Driving body positional information generating unit, its testing result based on described vehicle state detecting section, ask for and described driving body The related information in position travel body position information；
The traveling bar of pilot pressure mode, it controls the action of described driving body；
Operation detection part, its detection is to the described input travelling bar；With
Construction location information generation unit, it uses any in described equipment positional information or described driving body positional information One side come to generate as represent there occurs change construction object information construction location information,
Described construction location information generation unit described operation detection part detect be intended to make input that described driving body travels when, Generate described construction location information using described driving body positional information, described operation detection part detect be intended to make described During the input that driving body stops, generating described construction location information using described equipment positional information.
A kind of 11. excavation machineries, possess：Equipment, the revolving body installing described equipment, the described revolving body of carrying are carried out The construction management device of the excavation machinery described in any one in the driving body travelling and Claims 1 to 4.
A kind of 12. construction management system, including：
Construction plan generating unit, it generates the construction plan of the excavation machinery described in claim 11；
Construction plan sending part, described construction plan is sent to the construction management device of described excavation machinery by it；With
Construction location information acquiring section, it obtains the described construction location letter that the construction management device of described excavation machinery is generated Breath.
CN201380002204.2A 2013-04-10 2013-09-02 The construction management device of excavation machinery, the construction management device of hydraulic crawler excavator, excavation machinery and construction management system Active CN104246085B (en)

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PCT/JP2013/073573 WO2014167740A1 (en) 2013-04-10 2013-09-02 Construction management device for excavating equipment, construction management device for hydraulic shovel, excavating equipment, and construction management system

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